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完成启动OT并联动rviz

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zhangshixiang
2025-04-29 22:13:34 +08:00
parent bdf97be256
commit 8921bcd9fb
8 changed files with 257 additions and 103 deletions
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6
unilabos/devices/ros_dev/resource_mesh_manager.py
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@@ -135,8 +135,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
parent_link = parent
elif parent is None and resource_id in self.resource_model:
pass
elif parent not in self.resource_model and parent is not None:
parent_link = f"{self.resource_config_dict[parent]['parent']}{parent}_device_link".replace("None","")
elif parent not in self.resource_model and parent is not None and resource_config['class'] != '':
parent_link = f"{self.resource_config_dict[parent]['parent']}_{parent}_device_link".replace("None","")
else:
continue
# 提取位置信息并转换单位
@@ -164,7 +164,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
# print("-"*20)
# print(f"resource_id: {resource_id}")
# print(f"parent: {parent}")
# print(f"resource_config: {self.resource_model}")
# print(f"resource_config: {resource_config}")
# print(f"parent_link: {parent_link}")
# print("-"*20)
rotation = {